pointcloud_to_laserscan repository

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version foxy
Last Updated 2020-02-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 2.0.0

README

ROS 2 pointcloud <-> laserscan converters

This is a ROS 2 package that provides components to convert sensor_msgs/msg/PointCloud2 messages to sensor_msgs/msg/LaserScan messages and back. It is essentially a port of the original ROS 1 package.

pointcloud_to_laserscan::PointCloudToLaserScanNode

This ROS 2 component projects sensor_msgs/msg/PointCloud2 messages into sensor_msgs/msg/LaserScan messages.

Published Topics

  • scan (sensor_msgs/msg/LaserScan) - The output laser scan.

Subscribed Topics

  • cloud_in (sensor_msgs/msg/PointCloud2) - The input point cloud. No input will be processed if there isn't at least one subscriber to the scan topic.

Parameters

  • min_height (double, default: 0.0) - The minimum height to sample in the point cloud in meters.
  • max_height (double, default: 1.0) - The maximum height to sample in the point cloud in meters.
  • angle_min (double, default: -π/2) - The minimum scan angle in radians.
  • angle_max (double, default: π/2) - The maximum scan angle in radians.
  • angle_increment (double, default: π/360) - Resolution of laser scan in radians per ray.
  • queue_size (double, default: detected number of cores) - Input point cloud queue size.
  • scan_time (double, default: 1.0/30.0) - The scan rate in seconds. Used to populate the output laser scan.
  • range_min (double, default: 0.45) - The minimum ranges to return in meters.
  • range_max (double, default: 4.0) - The maximum ranges to return in meters.
  • target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
  • transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
  • use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.

pointcloud_to_laserscan::LaserScanToPointCloudNode

This ROS 2 component re-publishes sensor_msgs/msg/LaserScan messages as sensor_msgs/msg/PointCloud2 messages.

Published Topics

  • cloud (sensor_msgs/msg/PointCloud2) - The output point cloud.

Subscribed Topics

  • scan_in (sensor_msgs/msg/LaserScan) - The input laser scan. No input will be processed if there isn't at least one subscriber to the cloud topic.

Parameters

  • queue_size (double, default: detected number of cores) - Input laser scan queue size.
  • target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
  • transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
  • use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version eloquent-devel
Last Updated 2020-02-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 2.0.0

README

ROS 2 pointcloud <-> laserscan converters

This is a ROS 2 package that provides components to convert sensor_msgs/msg/PointCloud2 messages to sensor_msgs/msg/LaserScan messages and back. It is essentially a port of the original ROS 1 package.

pointcloud_to_laserscan::PointCloudToLaserScanNode

This ROS 2 component projects sensor_msgs/msg/PointCloud2 messages into sensor_msgs/msg/LaserScan messages.

Published Topics

  • scan (sensor_msgs/msg/LaserScan) - The output laser scan.

Subscribed Topics

  • cloud_in (sensor_msgs/msg/PointCloud2) - The input point cloud. No input will be processed if there isn't at least one subscriber to the scan topic.

Parameters

  • min_height (double, default: 0.0) - The minimum height to sample in the point cloud in meters.
  • max_height (double, default: 1.0) - The maximum height to sample in the point cloud in meters.
  • angle_min (double, default: -π/2) - The minimum scan angle in radians.
  • angle_max (double, default: π/2) - The maximum scan angle in radians.
  • angle_increment (double, default: π/360) - Resolution of laser scan in radians per ray.
  • queue_size (double, default: detected number of cores) - Input point cloud queue size.
  • scan_time (double, default: 1.0/30.0) - The scan rate in seconds. Used to populate the output laser scan.
  • range_min (double, default: 0.45) - The minimum ranges to return in meters.
  • range_max (double, default: 4.0) - The maximum ranges to return in meters.
  • target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
  • transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
  • use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.

pointcloud_to_laserscan::LaserScanToPointCloudNode

This ROS 2 component re-publishes sensor_msgs/msg/LaserScan messages as sensor_msgs/msg/PointCloud2 messages.

Published Topics

  • cloud (sensor_msgs/msg/PointCloud2) - The output point cloud.

Subscribed Topics

  • scan_in (sensor_msgs/msg/LaserScan) - The input laser scan. No input will be processed if there isn't at least one subscriber to the cloud topic.

Parameters

  • queue_size (double, default: detected number of cores) - Input laser scan queue size.
  • target_frame (str, default: none) - If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud.
  • transform_tolerance (double, default: 0.01) - Time tolerance for transform lookups. Only used if a target_frame is provided.
  • use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version lunar-devel
Last Updated 2020-10-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 1.4.1

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version lunar-devel
Last Updated 2020-10-09
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 1.4.1

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-04-26
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 1.3.1

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-04-26
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 1.3.1

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-04-26
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 1.3.1

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-perception/pointcloud_to_laserscan.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-04-26
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pointcloud_to_laserscan 1.3.1

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.